hpp::core::NumericalConstraint Class Reference

With the same notation as in Equation, this class represents equation: More...

#include <hpp/core/numerical-constraint.hh>

Inheritance diagram for hpp::core::NumericalConstraint:
Collaboration diagram for hpp::core::NumericalConstraint:

Public Member Functions

void rightHandSideFromConfig (ConfigurationIn_t config)
 
DifferentiableFunctionfunction () const
 Return a reference to the inner function. More...
 
const DifferentiableFunctionPtr_tfunctionPtr () const
 Return a reference to the inner function. More...
 
vector_tvalue ()
 Return a reference to the value. More...
 
matrix_tjacobian ()
 Return a reference to the jacobian. More...
 
- Public Member Functions inherited from hpp::core::Equation
void rightHandSide (vectorIn_t rhs)
 Set the right hand side of the equation. More...
 
vectorIn_t rightHandSide () const
 Return the right hand side of the equation. More...
 
size_type rhsSize () const
 Return the size of the right hand side constraint. More...
 
const ComparisonTypePtr_tcomparisonType () const
 Return the ComparisonType. More...
 

Static Public Member Functions

static NumericalConstraintPtr_t create (const DifferentiableFunctionPtr_t &function, ComparisonTypePtr_t comp=ComparisonType::createDefault())
 Create a shared pointer to a new instance. More...
 
static NumericalConstraintPtr_t create (const DifferentiableFunctionPtr_t &function, ComparisonTypePtr_t comp, vectorIn_t rhs)
 Create a shared pointer to a new instance. More...
 

Protected Member Functions

 NumericalConstraint (const DifferentiableFunctionPtr_t &function, ComparisonTypePtr_t comp=ComparisonType::createDefault())
 Constructor. More...
 
 NumericalConstraint (const DifferentiableFunctionPtr_t &function, ComparisonTypePtr_t comp, vectorIn_t rhs)
 Constructor. More...
 
- Protected Member Functions inherited from hpp::core::Equation
 Equation (const ComparisonTypePtr_t &comp, vectorIn_t rhs)
 
vectorOut_t nonConstRightHandSide ()
 Return the right hand side of the equation. More...
 

Detailed Description

With the same notation as in Equation, this class represents equation:

  • that cannot be explicitely defined;
  • in which $ f $ is a differentiable function.

Constructor & Destructor Documentation

◆ NumericalConstraint() [1/2]

hpp::core::NumericalConstraint::NumericalConstraint ( const DifferentiableFunctionPtr_t function,
ComparisonTypePtr_t  comp = ComparisonType::createDefault() 
)
protected

Constructor.

Parameters
functionthe differentiable function

◆ NumericalConstraint() [2/2]

hpp::core::NumericalConstraint::NumericalConstraint ( const DifferentiableFunctionPtr_t function,
ComparisonTypePtr_t  comp,
vectorIn_t  rhs 
)
protected

Constructor.

Parameters
functionthe differentiable function
rhsthe right hand side of this equation

Member Function Documentation

◆ create() [1/2]

static NumericalConstraintPtr_t hpp::core::NumericalConstraint::create ( const DifferentiableFunctionPtr_t function,
ComparisonTypePtr_t  comp = ComparisonType::createDefault() 
)
static

Create a shared pointer to a new instance.

See also
constructors

Referenced by hpp::core::ConfigProjector::addConstraint(), and hpp::core::ConfigProjector::addFunction().

◆ create() [2/2]

static NumericalConstraintPtr_t hpp::core::NumericalConstraint::create ( const DifferentiableFunctionPtr_t function,
ComparisonTypePtr_t  comp,
vectorIn_t  rhs 
)
static

Create a shared pointer to a new instance.

See also
constructors

◆ function()

DifferentiableFunction& hpp::core::NumericalConstraint::function ( ) const
inline

Return a reference to the inner function.

◆ functionPtr()

const DifferentiableFunctionPtr_t& hpp::core::NumericalConstraint::functionPtr ( ) const
inline

Return a reference to the inner function.

◆ jacobian()

matrix_t& hpp::core::NumericalConstraint::jacobian ( )
inline

Return a reference to the jacobian.

This matrix can be used to store the derivative of the function, its size being initialized.

References hpp::core::ComparisonType::createDefault().

◆ rightHandSideFromConfig()

void hpp::core::NumericalConstraint::rightHandSideFromConfig ( ConfigurationIn_t  config)
virtual

◆ value()

vector_t& hpp::core::NumericalConstraint::value ( )
inline

Return a reference to the value.

This vector can be used to store the output of the function, its size being initialized.